CN104483831A - Method for change processing of multi-field design supporting collaborative design of five-link robot - Google Patents
Method for change processing of multi-field design supporting collaborative design of five-link robot Download PDFInfo
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Abstract
The invention discloses a method for change processing of a multi-field design supporting collaborative design of a five-link robot. The method comprises the following steps of firstly, determining change schemes of the field of a current design change; computing a change difference of each field according to each change scheme, an initial design scheme of the five-link robot and a design target function in each field; judging whether each change scheme is valid according to the change difference, and abandoning the invalid change schemes; if the number of the residual change schemes is zero, quitting the current design change processing; otherwise, solving an optimal design scheme of the current design change according to the number of the residual change schemes, carrying out design change according to the optimal design scheme or ending the current design change processing. According to the method, the total design quality of a system is optimal and the change differences of different fields are considered coordinately, so that the multi-field design conflict is avoided, the problem of design conflict in the collaborative design of the five-link robot is effectively avoided, the design repetition is reduced, and the design efficiency is improved.
Description
Technical field
The present invention relates to mechanical design field, particularly relate to a kind of multi-field design alteration disposal route supporting five link robots collaborative designs.
Background technology
In the Process in Cooperative Design of five link robots, the design alteration that certain particular area designer proposes may affect the design object of other field, thus easily causes design conflicts, brings iterating of design.For this reason, based on the initial design of designer, find out the replacement scheme relatively optimized, to avoiding design conflicts, improving design efficiency and playing an important role.Usual designer sets out by localized target, based on the structure of knowledge of specific area, proposes the design alteration of machinery or control domain.Owing to lacking the background knowledge of other field, do not participate in the design activity of other field yet, therefore cannot predict the potential impact of this initial design to other field design object, thus easily cause the appearance of design conflicts.
In existing design conflicts automatic processing method, from existing some design proposals, select certain specified scheme by means of only predefined decision criteria, more excellent design proposal cannot be generated.And in the non-automatic disposal route of other design conflicts, reduce the possibility of design conflicts often through the information sharing increased between multiple domain designer, or directly from existing some schemes, choose specified scheme by designer.To produce new design proposal, then designer is needed to communicate with each other, the design proposal that artificial generation is new.Therefore, existing design conflicts disposal route all can not generate more excellent design proposal automatically.
For the collaborative design of five link robots, owing to needing the common participation of the designer in machinery and control two fields.In the design process, design conflicts almost cannot be avoided.Therefore, effective design alteration automatic processing method must be proposed, reduce the probability that design conflicts occurs, reduce the burden of designer simultaneously.Meanwhile, the optimization design scheme obtained need improve the overall design quality of five link robots as far as possible.Current design alteration disposal route is only selected from existing design alteration, cannot obtain more excellent design proposal, can not solve design conflicts.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of multi-field design alteration disposal route supporting five link robots collaborative designs.
Support a multi-field design alteration disposal route for five link robots collaborative designs, comprise the steps:
(1) change scheme of every field when determining that current design changes;
(2) for each change scheme, the change residual quantity of every field is calculated according to the design object function in the preliminary design scheme of mutually current change scheme and five link robots and every field;
(3) for each change scheme, the change residual quantity corresponding according to this change scheme judges that whether this change scheme is effective, gives up invalid change scheme;
(4) number of statistics remaining change scheme after step (3) process, and proceed as follows according to the number of remaining change scheme:
If (4-1) number of remaining change scheme is zero, then exits current design and change process;
(4-2) otherwise, solve according to the number of remaining change scheme the optimization design scheme that current design changes, and carry out design alteration with optimization design scheme, or terminate current design and change process.
In the present invention, the end current design change process of indication is thought to stop current design changing.
Field of the present invention refers to design field, as mechanical field, control field etc.When design alteration is carried out to five link robots, can carry out single field, also can carry out several fields simultaneously.The design alteration scheme in each field is provided by the designer in corresponding field.
Method of the present invention is only applicable to the process of the design alteration for multi-field proposition in collaborative design, and the design variable participating in design alteration in namely corresponding change scheme is the design variable of different field.
The multi-field design alteration disposal route of support five link robots domain collaborative multi design of the present invention, the change scheme process proposed for multi-field designer is as follows: by five link robots system optimization model computing system optimization target values, and construct new system optimization model, solve this model and obtain optimal value and form corresponding optimization design scheme design alteration is carried out to preliminary design scheme.This multi-field design alteration disposal route effectively can reduce design conflicts, also substantially increases overall system design quality simultaneously.
In the present invention when there is design object function to be optimized, think that candidate designs scheme is not optimum, therefore by being optimized design object function structure to be optimized, and then realize, to the optimization of design proposal corresponding to change scheme, after ensureing to carry out design alteration according to change scheme, can mass of system being improved.
The present invention is in fact a kind of auxiliary design method of five link robots, propose with five push and pull system Optimized models as foundation, with machinery and control subsystem optimal design target for leading, constructing new system optimization model (i.e. design proposal), and trying to achieve and meet system optimization solution.Manual shift design variable can be avoided by accurate Calculation, improve design efficiency, thus manufacture five link robots when efficient design.
Described design proposal comprises the value of all design variables of five link robots;
Described change scheme comprises the design variable and corresponding value that participate in design alteration.
Accordingly, described preliminary design scheme comprises the value of all design variables of initial time five link robots; Candidate designs scheme and optimization design scheme also should comprise the value changing the rear all design variables of five link robots.
As preferably, described preliminary design scheme and optimization design scheme can adopt vector form to represent, every one dimension represents the value of a design variable.
Described change scheme comprises the design variable and corresponding change value that participate in design alteration.
Design proposal of the present invention comprises the design load of all design variables of five link robots, and accordingly, described preliminary design scheme comprises the design load of all design variables of initial time five link robots; Described optimization design scheme also should comprise the design load of all design variables of five link robots.
As preferably, described preliminary design scheme and optimization design scheme can adopt vector form to represent, every one dimension represents the value of a design variable.
Described step (2), for any one change scheme, calculates the change residual quantity in any one field as follows:
(2-1) corresponding candidate designs scheme is formed according to current change scheme;
(2-2) design load of each design variable in preliminary design scheme is substituted into the design object initial value calculating current area in the design object function of current area;
Value when each variable in candidate designs scheme is substituted into the design object final value calculating current area in the design object function of current area;
(2-3) the design object final value of current area is deducted design object initial value, obtain the change residual quantity of current area.
When forming candidate designs scheme according to change scheme, for the value that the design variable in design variable set is directly drawn out, for the design variable beyond design variable set, get corresponding value in preliminary design scheme.
Each field is to there being independently design object function, and field number depends on the object of design alteration.The object of design alteration in the present invention is five link robots, and its design object function mainly comprises mechanical manipulation design object function
and movement locus design object function
system design goal comprises mechanical manipulation
and movement locus
less, system is handling better.
less, then Systematical control precision is higher.
Described mechanical manipulation design object function
computing formula is as follows:
Described movement locus design object function
Wherein:
T
0for initial time, a
ithe length of indication rod i, obtains, q from corresponding design proposal
ibe respectively the movement angle corresponding to five link robots bar i, directly measured by angular transducer and obtain,
q
1to the derivative of time,
for q
2to the derivative of time,
for q
iexpectation value.
When the change residual quantity of all spectra is all more than or equal to zero, illustrate that this change scheme is infeasible, direct refusal, if the change residual quantity of all spectra is all less than zero, the design proposal that this change scheme is corresponding and optimum are then described, there is not the design variable needing to optimize, therefore directly submit change scheme to, directly calculate design proposal according to this design proposal further and carry out follow-up change.
As preferably, in described step (3), judge that whether each change scheme is effective by the following method:
If change residual quantity be all greater than zero or equal zero, then judge that this change scheme is invalid;
Otherwise, judge that this change scheme is effective.
Give up invalid design proposal according to judged result, can greatly improve design alteration treatment effeciency, in addition, effectively can also reduce the interference between different field, the accuracy of the optimization design scheme obtained after ensureing process.
Proceed as follows when remaining change scheme number is 1 in described step (4-2):
(a1) if having at least one to be greater than zero in change residual quantity corresponding to this change scheme, and have at least one to be less than zero simultaneously, then think to there is design object function to be optimized, and build majorized function for the design object in each field, majorized function described in utilization solves the optimization design scheme that current design changes, and utilizes optimization design scheme to carry out design alteration;
(a2) otherwise, directly terminate current design and change process, or using candidate designs scheme corresponding to this change scheme as optimization design scheme, and utilize optimization design scheme to carry out design alteration.
As preferably, in described step (a1), build majorized function according to following methods:
Change residual quantity is greater than to the design object function in the field of zero
build majorized function
the design object function in the field of zero is greater than for changing residual quantity,
the design object initial value in the field of zero is greater than for changing residual quantity;
Change residual quantity is less than or equal to the design object function in the field of zero
build majorized function
the design object function in the field of zero is less than or equal to for changing residual quantity,
the design object initial value in the field of zero is greater than for changing residual quantity.
As preferably, described step (a2) proceeds as follows:
If the change residual quantity of all spectra is all more than or equal to zero, then directly exits current design and change processing procedure;
If the change residual quantity of all spectra is all less than zero, then using candidate designs scheme corresponding to this change scheme as optimization design scheme, and optimization design scheme is utilized to carry out design alteration.
Proceed as follows when remaining change scheme number is greater than 1 in described step (4-2):
(b1) corresponding majorized function is built respectively for each design design object function;
(b2) majorized function described in utilization solves the optimization design scheme that current design changes.
As preferably, in described step (b1), build corresponding majorized function according to following method respectively for each design design object function:
Wherein,
for the design object function of field k,
for all change schemes are in the minimum value of the design object final value of field i, k=1,2 ... K, K are the field sum of five link robots.
As preferably, multi-objective optimization algorithm is adopted to be less than or equal to zero as optimization aim using the value of all majorized functions in described step (a1) and (b2), solve the value obtaining each design variable, namely obtain the optimization design scheme that current design changes.
For guaranteeing that the rear system performance one of final change improves surely, in the present invention, define the quality factor of each design variable scheme, specific as follows:
Wherein, K is the sum in the field of the system of design alteration;
X
dcrepresent change scheme (namely comprising the design variable of participation design alteration with corresponding);
ω k is
corresponding weight, span is [0,1], and
represent at change scheme X
dcthe change residual quantity of corresponding corresponding field k, is expressed as
X
0for preliminary design scheme, X
sfor with change scheme X
dcfor optimization design scheme when change scheme carries out design alteration;
Because aims of systems makes design object function
value little as far as possible, the computing formula according to quality factor can find out therefore only have DQ (X
dc) design alteration guarantee overall system design quality should be carried out according to this change scheme when being less than zero and get a promotion, then illustrate that this change scheme is feasible.
Accordingly, after the present invention obtains optimization design scheme, calculate the quality factor of design variable scheme further, if the quality factor of correspondence is less than zero, carry out design alteration then to five link robots, its design proposal is changed to optimization design scheme by preliminary design scheme;
Otherwise, do not carry out design alteration.Especially, quality factor equals zero, then illustrate, mass conservation (do not promote and also do not decline) after changing, therefore changes nonsensical, then also can not carry out establishing design alteration.
The present invention can avoid multi-field design conflicts, and after solving this system optimization model, gained makes all design objects all be less than or equal to the solution of zero, then this optimum solution not only improves total system mass, also not influential system design object, thus avoids design conflicts.Because this solution is optimum solution, therefore overall system design quality is also optimum.
Design alteration disposal route of the present invention, based on original five link robots system optimization models, after solving the design object final value of design alteration, constructs new system optimization model, can obtain system optimization solution after solving this model, as final design scheme.This design alteration not only makes overall system design optimal quality, and the design idea of As soon as possible Promising Policy designer, the collaborative change residual quantity considering different field, thus avoid multiple domain design conflicts, and the optimum solution meeting multiple domain design object can be found out fast, effectively avoid the design conflicts problem in five link robots collaborative designs, decrease design repeatedly, improve design efficiency.
Accompanying drawing explanation
Fig. 1 is the five link robots schematic diagram of the present embodiment;
Fig. 2 is the Machine Design parameter schematic diagram of five link robots in the present embodiment;
Fig. 3 is the process flow diagram of the multi-field design alteration disposal route of the present embodiment.
Embodiment
Five link robots are typical electronic products, and structure as shown in Figure 1, comprises five connecting rods, is respectively connecting rod l
1, connecting rod l
2, connecting rod l
3, connecting rod l
4with connecting rod l
5, wherein, connecting rod l
1with connecting rod l
2driven by actuator (i.e. motor), Systematical control target makes c press desired trajectory motion, and wherein x-axis and y-axis are the frame of reference of movement locus.
In the present embodiment, the c point movement locus of five link robots is as follows,
x
p＝-0.1+0.1cos(1.2566t)；
y
p＝0.3+0.1sin(1.2566t)；
Wherein, t is the time.
To five link robots shown in Fig. 1, comprise 37 design variables, wherein 33 mechanical domain variablies, 4 control domain variablees, design variable comprises mechanical configuration parameter vector p
swith PD controller parameter vector p
c.When given design alteration, X is made to be all design variable set, i.e. Machine Design parameter p
swith PD Controller gain variations parameter p
cunion, be designated as design parameter vector X=[p
1, p
2... p
37], wherein p
1~ p
33mechanical configuration parameter (i.e. the design variable of mechanical field), p
34~ p
37pD controller parameter (i.e. the design variable of control field).
for Machine Design design object function,
for control design case design object function.
Mechanical configuration parameter p
sinitial value be p
s0, PD controller parameter p
cinitial value be p
c0, then preliminary design scheme X
0=[p
s0, p
c0].
Mechanical configuration parameter vector p in the present embodiment
sbe 34 dimensions, every one-dimensional representation mechanical configuration parameter.The cross sectional shape of the present embodiment king-rod as shown in Figure 2, is octagon.Each connecting rod l
istructural parameters definition as shown in Figure 2, a
i(i=1,2 ..., 5) and be the length parameter of connecting rod i, b
irepresent the distance of left end rotating hole apart from left end edge of connecting rod i (i=1,2,3,4); c
irepresent the length of side at connecting rod i (i=1,2,3,4) two ends; d
irepresent the distance of connecting rod i (i=1,2,3,4) right-hand member rotating hole apart from right-hand member edge; e
1..., e
4represent the thickness (not shown in FIG.) of connecting rod 1,2,3,4 respectively; f
1..., f
4represent connecting rod 1,2,3,4 two ends intercepted length respectively; g
1..., g
4represent the left end limit intercepted length of connecting rod 1,2,3,4 respectively; h
1..., h
4represent the right-hand member limit intercepted length of connecting rod 1,2,3,4 respectively; Wherein connecting rod 5 only has length parameter a
5, without other design parameters.Other parameters as shown in Figure 2.Then Design of Mechanical Structure parameter vector p in the present embodiment
sas follows:
p
s＝[a
1,…,a
5,b
1,…,b
4,c
1,…,c
4,d
1,…,d
4,e
1,…,e
4,f
1,…,f
4,g
1,…,g
4,h
1,…,h
4]∈R
33。
PD controller parameter vector p
cbe 4 dimensions, every one-dimensional representation controller parameter.PD Controller gain variations parameter p
cbe expressed as:
p
c＝[k
p1,k
p2,k
d1,k
d2]∈R
4。
In this enforcement, the design object function of five link robots systems comprises mechanical manipulation design object function
with movement locus design object function
wherein, mechanical manipulation design object function
computing formula is as follows:
Movement locus design object function
as follows:
T
0for initial time, a
ithe length of indication rod i, obtains, q from corresponding design proposal
ibe respectively the movement angle corresponding to five link robots bar i, directly measured by angular transducer and obtain,
q
1to the derivative of time,
for q
2to the derivative of time,
for q
iexpectation value.
less, system is handling better.
less, then Systematical control precision is higher.
For weighing the quality of design alteration, system quality definition is as follows:
Wherein, dc is design variable set, namely comprises the set of the design variable participating in design alteration);
X
dcthe optimization design scheme of the change scheme that expression is dc with design variable set;
ω
1for
corresponding weight; ω
2for
corresponding weight;
represent the handling increment in corresponding field, be expressed as
represent the error increment in corresponding field, be expressed as
Wherein
represent mechanical manipulation design object function,
represent movement locus design object function, X
0represent the initial value (i.e. the vector of the initial value composition of each design variable) of five link robots systematic parameters.
Wherein ω
1and ω
2for span is at the number of [0,1], and meet ω
1+ ω
2=1.
ω in the present embodiment
1=ω
2=0.5.
In the present embodiment, Machine Design design object function
weights omega
1with control design case design object function
weights omega
2be 0.5.
The preliminary design scheme of the present embodiment is as follows:
P
sinitial value p
s0for:
p
s0＝[0.14,0.14,0.35,0.35,0.4,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.04,0.015,0.015,0.015,0.015,0.012,0.012,0.012,0.012,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]。
P
cinitial value p
c0be expressed as:
p
c0＝[8,0.1,8,0.1]。
By p
sinitial value p
s0and p
cinitial value p
c0namely combination obtains the preliminary design scheme X of five link robots of the present embodiment
0.
Change scheme comprises the design variable set dc for changing that designer provides, and also comprises the value of each design variable in design variable set dc simultaneously, for the design variable beyond design variable set dc, gets the value of this design variable in initial scheme.
Because aims of systems makes
with
little as far as possible, therefore only have DQ (X
dc) this design alteration guarantee overall system design quality gets a promotion when being less than zero.
Multi-field design alteration disposal route is carried out as shown in Figure 3 to above-mentioned five link robots, comprises the steps:
(1) change scheme of every field when determining that current design changes;
In the present embodiment, current design changes the design alteration relating to mechanical field and controller (PD controller) field.
For each field, its change scheme comprises the design variable set X participating in design alteration
dc, and each participates in the set of the design variable of design alteration and corresponding change value.
The change scheme that Machine Design personnel provide is as follows:
Machine Design variable (i.e. design variable) set is: X
dc1={ p
1, p
2, p
5, p
22, p
23, p
26, p
27, p
30, p
31, p
32, p
33;
The change value of each design variable is:
p
1＝p
2＝0.0135，p
5＝0.42，p
22＝p
23＝0.02，p
26＝p
27＝0.1，p
30＝p
31＝p
32＝p
33＝0.05。
The design alteration that control design case personnel provide PD controller is as follows:
Controller gain variations variables collection is: X
dc2={ p
5, p
34, p
35.The value of each Controller gain variations variable (i.e. design variable) changes to:
p
5＝0.41，p
34＝6，p
35＝0.2。
(2) the change residual quantity of every field is calculated according to the design object function in the preliminary design scheme of mutually current change scheme and five link robots and every field;
Its change residual quantity of calculating as follows for any one field:
(2-1) corresponding candidate designs scheme is formed according to current change scheme, when forming candidate designs scheme according to change scheme, for the value that the design variable in design variable set is directly drawn out, for the design variable beyond design variable set, get preliminary design scheme X
0in corresponding value.
For the change scheme of mechanical field in the present embodiment, corresponding candidate designs scheme is X
dc1.
For the change scheme of control field in the present embodiment, corresponding candidate designs scheme is X
dc2.
The design load of each design variable in preliminary design scheme is substituted into the design object initial value calculating current area in the design object function of current area;
Value when each variable in candidate designs scheme is substituted into the design object final value calculating current area in the design object function of current area;
For the change scheme of mechanical field in the present embodiment, calculate each design object final value under this change scheme effect as follows:
The design object final value of mechanical field is
The design object final value of control field is
For the change scheme of control field in the present embodiment, calculate each design object final value under this change scheme effect as follows:
The design object final value of mechanical field is
The design object final value of control field is
(2-2) the design object final value of current area is deducted design object initial value, obtain the change residual quantity of current area.
As follows in the change residual quantity of every field at the change scheme of mechanical field in the present embodiment:
The change residual quantity of mechanical field is:
The change residual quantity of control field is:
As follows in the change residual quantity of every field at the change scheme of control field in the present embodiment:
The change residual quantity of mechanical field is:
The change residual quantity of control field is:
(3) for each change scheme, the design alteration residual quantity corresponding according to this change scheme judges that whether this change scheme is effective:
If design alteration residual quantity is all greater than zero or equal zero, then judges that this change scheme is invalid and give up this change scheme;
Otherwise, judge that this change scheme is effective, retain this change scheme.
In the present embodiment, two change schemes all retain.Add up the number of remaining change scheme after step (3) process, and proceed as follows according to the number of remaining change scheme:
If (4-1) number of remaining change scheme is zero, then exits current design and change process;
(4-2) otherwise, judge whether to there is design object function to be optimized, and solve according to the number of this judged result and remaining change scheme the optimization design scheme that current design changes, and utilize optimization design scheme to carry out design alteration, or directly exit current changes and process.
When remaining change scheme number is 1, solve optimization design scheme by the following method:
(a1) if having at least one to be greater than zero in change residual quantity corresponding to this change scheme, and have at least one to be less than zero simultaneously, then think to there is design object function to be optimized, and build majorized function for the design object in each field,
Design alteration residual quantity is greater than to the design object function in the field of zero
build majorized function
for design alteration residual quantity is greater than the design object function in the field of zero,
for design alteration residual quantity is greater than the design object initial value in the field of zero;
Design alteration residual quantity is less than or equal to the design object function in the field of zero
build majorized function
for design alteration residual quantity is less than or equal to the design object function in the field of zero,
for design alteration residual quantity is greater than the design object initial value in the field of zero.
Then, adopt multi-objective optimization algorithm to be less than or equal to zero as optimization aim using the value of all majorized functions, solve the value obtaining each design variable, namely obtain the optimization design scheme that current design changes.
(a2) otherwise, proceed as follows:
(a21) if the design alteration residual quantity of all spectra is all more than or equal to zero, then (namely terminating) design alteration process is directly exited;
(a22) if the design alteration residual quantity of all spectra is all less than zero, then using candidate designs scheme corresponding to this change scheme as optimization design scheme, and design alteration is carried out according to this optimization design scheme.
When remaining change scheme number is greater than 1, specifically proceed as follows:
(b1) build the majorized function of each design object function, wherein build design object function according to following formula
majorized function:
Wherein,
for the design object function of field k,
for all change schemes are in the minimum value of the design object final value of field i, k=1,2 ... K, K are the field sum of five link robots.
(b2) multi-objective optimization algorithm is adopted to be less than or equal to zero as optimization aim using the value of all majorized functions, solve the value obtaining each design variable, namely obtain the optimization design scheme that current design changes, carry out design alteration according to this optimization design scheme.
The number of adding up the residue change scheme obtained in the present embodiment is 2, is greater than 1, then the design object function for each field builds majorized function, builds and obtains mechanical optimization objective function
and controller optimization function
as follows:
Adopt multi-objective optimization algorithm to be less than or equal to zero as optimization aim using the value of majorized function, solve and obtain design parameter vector, be the optimization design scheme that current design changes, be designated as X
s:
Xs＝[0.1359,0.1360,0.3390,0.3328,0.3995,0.0355,0.1,0.0540,0.02,0.0421,0.0385,0.03810.0450,0.015,0.015,0.015,0.015,0.0074,0.0076,0.0064,0.0072,0.0004,0.0107,0.0032,0.0,0.0729,0.0,0.1583,0.0102,0.0237,0.1484,0.0,0.3,9.4696,0.2253,10.3564,0.2243]。
The optimization design scheme that current design changes, is actually the change scheme simultaneously completing mechanical field and control field, can thinks X
s=X
dc1+dc2, dc1+dc2 is total change scheme.
For improving the quality of design alteration further, the feasibility of the optimization design scheme obtained is judged further in the present embodiment, if feasible, just carry out design alteration according to this optimization design scheme further, by the design proposal of five link robots by preliminary design scheme X
0change to optimization design scheme X
s.
Judge that the method for the feasibility of the optimization design scheme obtained is specific as follows:
Calculate the quality factor of this change scheme when the change scheme independent role of mechanical field:
DQ(X
dc1)＝–0.0009×0.5–0.0097×0.5＝–0.0053；
Calculate the quality factor of this change scheme when the change scheme independent role of control field:
DQ(X
dc2)＝0.0011×0.5–0.0206×0.5＝–0.00975；
Calculate the quality factor of the total change scheme corresponding when the change scheme of mechanical field and control field acts on simultaneously:
DQ(X
s)＝(0.4727–0.4395)×0.5+(0.0264–0.0989)×0.5＝–0.0197。
Visible, DQ (X
s) <DQ (X
dc2) <DQ (X
dc1)
Then illustrate, with X
dc1and X
dc2compare, optimization design scheme Xs's is best in quality, thinks that optimization design scheme Xs's is feasible, then
The method uses the optimal value of multiple domain design alteration to construct new system optimization target, can eliminate potential design conflicts, guarantees that overall system design quality becomes excellent simultaneously.The method significantly can improve the design efficiency of multiple domain designer, reduces design and repeats, shorten the design cycle.By building the new system optimization model meeting multiple domain design requirement, solve the optimal design change that this Optimized model can obtain system.
Above-described embodiment has been described in detail technical scheme of the present invention and beneficial effect; be understood that and the foregoing is only most preferred embodiment of the present invention; be not limited to the present invention; all make in spirit of the present invention any amendment, supplement and equivalent to replace, all should be included within protection scope of the present invention.
Claims (10)
1. support a multi-field design alteration disposal route for five link robots collaborative designs, it is characterized in that, comprise the steps:
(1) change scheme of every field when determining that current design changes;
(2) for each change scheme, the change residual quantity of every field is calculated according to the design object function in the preliminary design scheme of mutually current change scheme and five link robots and every field;
(3) for each change scheme, the change residual quantity corresponding according to this change scheme judges that whether this change scheme is effective, gives up invalid change scheme;
(4) number of statistics remaining change scheme after step (3) process, and proceed as follows according to the number of remaining change scheme:
If (4-1) number of remaining change scheme is zero, then exits current design and change process;
(4-2) otherwise, solve according to the number of remaining change scheme the optimization design scheme that current design changes, and carry out design alteration with optimization design scheme, or terminate current design and change process.
2. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 1, it is characterized in that, described design proposal comprises the value of all design variables of five link robots;
Described change scheme comprises the design variable and corresponding value that participate in design alteration.
3. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 1, it is characterized in that, described step (2), for any one change scheme, calculates the change residual quantity in any one field as follows:
(2-1) corresponding candidate designs scheme is formed according to current change scheme;
(2-2) design load of each design variable in preliminary design scheme is substituted into the design object initial value calculating current area in the design object function of current area;
Value when each variable in candidate designs scheme is substituted into the design object final value calculating current area in the design object function of current area;
(2-3) the design object final value of current area is deducted design object initial value, obtain the change residual quantity of current area.
4. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 1, is characterized in that, judge that whether each change scheme is effective by the following method in described step (3):
If change residual quantity be all greater than zero or equal zero, then judge that this change scheme is invalid;
Otherwise, judge that this change scheme is effective.
5. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 1, is characterized in that, proceed as follows in described step (4-2) when remaining change scheme number is 1:
(a1) if having at least one to be greater than zero in change residual quantity corresponding to this change scheme, and have at least one to be less than zero simultaneously, then think to there is design object function to be optimized, and build majorized function for the design object in each field, majorized function described in utilization solves the optimization design scheme that current design changes, and utilizes optimization design scheme to carry out design alteration;
(a2) otherwise, directly terminate current design and change process, or using candidate designs scheme corresponding to this change scheme as optimization design scheme, and utilize optimization design scheme to carry out design alteration.
6. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 5, builds majorized function according to following methods in described step (a1):
Change residual quantity is greater than to the design object function in the field of zero
build majorized function
the design object function in the field of zero is greater than for changing residual quantity,
the design object initial value in the field of zero is greater than for changing residual quantity;
Change residual quantity is less than or equal to the design object function in the field of zero
build majorized function
the design object function in the field of zero is less than or equal to for changing residual quantity,
the design object initial value in the field of zero is greater than for changing residual quantity.
7. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 5, described step (a2) proceeds as follows:
If the change residual quantity of all spectra is all more than or equal to zero, then directly exits current design and change processing procedure;
If the change residual quantity of all spectra is all less than zero, then using candidate designs scheme corresponding to this change scheme as optimization design scheme, and optimization design scheme is utilized to carry out design alteration.
8. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 4, is characterized in that, proceed as follows in described step (4-2) when remaining change scheme number is greater than 1:
(b1) corresponding majorized function is built respectively for each design design object function;
(b2) majorized function described in utilization solves the optimization design scheme that current design changes.
9. the multi-field design alteration disposal route supporting five link robots collaborative designs as claimed in claim 8, it is characterized in that, in described step (b1), build corresponding majorized function according to following method respectively for each design design object function:
Wherein,
for the design object function of field k,
for all change schemes are in the minimum value of the design object final value of field i, k=1,2 ... K, K are the field sum of five link robots.
10. the multi-field design alteration disposal route of the support five link robots collaborative design as described in claim 5 or 8, it is characterized in that, multi-objective optimization algorithm is adopted to be less than or equal to zero as optimization aim using the value of all majorized functions in described step (a1) and (b2), solve the value obtaining each design variable, namely obtain the optimization design scheme that current design changes.
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